Laser radar system with coarse angle control

Abstract

According to various embodiments, a lidar system (100) can have a detector (104) having a plurality of detector pixels (106) arranged along a first direction, wherein each detector pixel (106) of the plurality of detector pixels (106) is assigned to a respective sub-section of a field of view (102); a light source (110) having a plurality of sub-light sources (112) arranged along a second direction that is angled to the first direction, wherein each sub-light source (112) of the plurality of sub-light sources (112) is assigned to a respective sub-section of the field of view (102); a coarse angle control element (114) configured to deflect light from the light source (110) to the field of view and to deflect light from the field of view (102) to the detector (104); and a light emission controller (118) configured to control the sub-light sources (112) of the plurality of sub-light sources (112) in a manner that each sub-light source (112) of the plurality of sub-light sources (112) emits light for a respective emission time period.

Description

Technical Field

[0001] Various exemplary implementations relate to a lidar system (i.e., a light detection and ranging system). Background Technology

[0002] A lidar system is a scanning system that illuminates a scene to provide information about the scene, such as objects within it (e.g., their size, speed, direction of movement, etc.). An exemplary lidar architecture has fine-grained angle control elements (e.g., an optical phased array, OPA) and (separately) coarse-grained angle control elements (e.g., a liquid crystal polarization grating, LCPG) for controlling the direction of light emitted onto the scene (in other words, for guiding the beam emitted into the lidar system's field of view). In this exemplary architecture, the field of view is divided into multiple segments (also called blocks), and light can be guided onto (and received from) these segments.

[0003] For example, a lidar system can be designed for a field of view of + / -10° to + / -60°, and the LCPG can have 4 to 16 horizontal blocks. The measurement system switches through these horizontal blocks, i.e., approaches the blocks in the field of view one by one within the lidar frame via the LCPG. The lidar system can, for example, have 1 to 16 laser diodes as light sources, which can also be designed to be individually switchable. Typical lidar measurements require a horizontal resolution of approximately 0.05° to 1°. Therefore, in most cases, achieving horizontal resolution within an LCPG block using laser diode channels, such as illuminating a column with one or more lasers, is insufficient. Therefore, fine angle control elements are also used for horizontal resolution; that is, horizontal resolution within a block of the LCPG is achieved using fine angle control elements (e.g., using a one-dimensional MEMS mirror). For example, fine angle control elements are used to achieve fine beam deflection in the horizontal direction. Thus, the lidar system has components for achieving fine beam deflection, which increases the complexity of the system, for example, regarding the required optics and the synchronization required between the operation of the components and the operation of the light source.

[0004] As another example, LCPG can be used with a two-dimensional detector array of flash illumination and a time-of-flight (ToF) camera. However, in this configuration, the entire field of view (also known as the field of view) of the camera is immediately illuminated, resulting in reduced intensity and therefore a narrower range. Summary of the Invention

[0005] Various embodiments relate to a lidar system in which a portion of the spatial resolution (e.g., resolution in a first direction) is provided by the transmitter side (also called the transmission side), while another portion of the spatial resolution (e.g., resolution in a second direction) is provided by the receiver side. In various embodiments, the scanning directions of the transmitter and receiver sides of the lidar system are interchanged, such that the transmission side is used for resolution in one direction (e.g., the vertical direction), while the receiver side is used for a different direction (e.g., the horizontal direction).

[0006] A lidar system can be provided in which a portion of the spatial resolution measured by the lidar (e.g., spatial resolution in a first direction) is provided by a spatial arrangement of multiple sub-light sources (e.g., individual laser diodes) of the lidar system, while another portion of the spatial resolution measured by the lidar (e.g., spatial resolution in a second direction) is provided by a spatial arrangement of multiple detector pixels of the lidar system's detectors. Various embodiments relate to a lidar system in which the (two-dimensional) spatial resolution measured by the lidar is provided by the arrangement of multiple sub-light sources relative to the detector pixels.

[0007] In the accompanying drawings, the first and second directions can be represented as a horizontal direction and a vertical direction (or vice versa). However, it is understood that the first and second directions can be any two directions at an angle to each other, enabling the sub-light source to emit light toward the field of view of the lidar system and enabling the detector pixels to receive light from the field of view of the lidar system. For example, the first and second directions can be any two directions along which spatial resolution is achieved.

[0008] A lidar system may have a coarse angle control element for controlling the beam direction of emitted and / or received light. The coarse angle control element may be configured to control (e.g., change) the propagation direction of both the light emitted by the lidar system into the field of view and the light received by the lidar system from the field of view.

[0009] A coarse angle control element can be understood as a device configured (e.g., controllable) in such a way that it controls the direction of propagation of light passing through (in other words, through) the coarse angle control element. For example, the coarse angle control element can be configured to provide a deflection angle (also called an offset angle) to deflect light propagating through the coarse angle control element (e.g., to provide a controllable output angle). One or more properties of the coarse angle control element (such as relative to...) can be controlled. Figures 2A to 2FThe deflection angle is defined by the description of the angle. A coarse angle control element can achieve coarse control of the deflection angle, such that the deflection angle does not change continuously, but can take one of a number of discrete values. The coarse angle control element can be configured (e.g., controlled) to take one of a number of possible operating states, where the operating state defines the corresponding deflection angle of the light. The number of possible operating states (in various respects, the number of possible deflection angles) can depend on the nature of the coarse angle control element (e.g., on the number of switchable liquid crystal layers, by way of example only), as will be explained in more detail below. The coarse angle control element can be or has a liquid crystal polarizing grating. However, it should be understood that a liquid crystal polarizing grating is only one example of a possible coarse angle control element, and other types of devices (e.g., mirrors) can also be used.

[0010] In terms of discretely controlling the deflection angle of light emission, a field of view can be considered as consisting of multiple blocks (for example, multiple discrete segments). Each block can be assigned a corresponding deflection angle. The term block (e.g., field of view block or LCPG block) can be used herein to describe a segment of the field of view into which light can be deflected via discrete control of the deflection angle of emitted light. A block can also describe a (discrete) segment of the field of view from which light can be received (e.g., detected).

[0011] A detector can be used for resolution in a first direction within the block. Individual sub-light sources or groups of sub-light sources (e.g., laser diodes or groups of laser diodes) can be used for resolution in a second direction within the block. For example, when the field of view of the block has fewer rows than columns, a detector can be used for resolution in the horizontal direction, and a light emitter can be used for resolution in the vertical direction. For example, a receiving diode array (e.g., an avalanche photodiode array APD) can be used for more rows (e.g., up to 8, 16, or 32 channels, which can significantly increase complexity and cost) compared to a laser diode array.

[0012] By incorporating the angular deflection possibilities of coarse angle control elements, the relative spatial arrangement of detector pixels and sub-light sources can eliminate the need for fine angle deflection elements, such as OPAs or MEMS mirrors (by way of example only). In various implementations, intra-block spatial resolution can be achieved through a cross-arrangement of light sources (e.g., laser bars) and detectors (e.g., 1D detector arrays). Spatial resolution in one direction can be achieved by sequentially using sub-light sources (e.g., laser diodes of laser bars, such as 8-laser bars or 16-laser bars). For example, sub-light sources (e.g., laser diodes of laser bars) can be illuminated (e.g., activated) one after another to provide spatial resolution.

[0013] This offers the advantage of eliminating complex components (OPA, MEMS, etc.). It also eliminates the need for controlling such components (typically implemented using FPGAs or ASICs) and simplifies the optics. The problem of light from sub-sources (e.g., lasers) needing to fit into fine-angle deflection elements is also eliminated. The optics consist of fewer lenses, meaning lower losses and less assembly work. By eliminating fine-angle deflection elements, the cost and complexity of the lidar system are significantly reduced. Furthermore, without fine-angle deflection elements, there exists a truly solid-state lidar that requires no moving parts, which also increases reliability.

[0014] Various embodiments relate to a lidar system in which two-dimensional spatial resolution can be achieved without the use of fine angle control elements (e.g., without the use of MEMS mirrors). In various embodiments, the lidar system can be described as a lidar system with an LCPG but without MEMS, such as a flash lidar with an LCPG.

[0015] A lidar system may include: a detector configured to detect light from a field of view, wherein the detector has a plurality of detector pixels arranged along a first direction, wherein each of the plurality of detector pixels is assigned to a corresponding sub-segment of the field of view; a light source having a plurality of sub-light sources arranged in such a manner that they emit light into the field of view, wherein the sub-light sources are arranged along a second direction at an angle to the first direction, wherein each of the plurality of sub-light sources is assigned to a corresponding sub-segment of the field of view; a coarse angle control element configured to deflect light from the light source (e.g., from the sub-light sources) to the field of view and to deflect light from the field of view to the detector; and a light emission controller configured to control the sub-light sources such that each of the plurality of sub-light sources emits light during its respective emission time period.

[0016] The second direction can be perpendicular to the first direction. As an example, the first direction can be horizontal and the second direction can be vertical. As another example, the first direction can be vertical and the second direction can be horizontal.

[0017] For example, the first and second directions can be perpendicular to the optical axis of the lidar system.

[0018] The coarse angle control element can be configured to deflect light at a deflection angle relative to the optical axis of the lidar system. The deflection angle can be one of a plurality of discrete deflection angles (e.g., a corresponding operating state assigned to the coarse angle control element).

[0019] A coarse angle control element can be configured to deflect light from a light source by a first deflection angle to illuminate a segment of the field of view. For example, the coarse angle control element can be configured to control the deflection angle (and output angle) of light emitted into the field of view, such that light is emitted into a segment of the field of view. The coarse angle control element can be configured (e.g., controlled) to sequentially provide different deflection angles, such that different segments of the field of view are sequentially illuminated.

[0020] The coarse angle control element can be configured to deflect light from the field of view at a second deflection angle to deflect light from a segment of the field of view onto the detector.

[0021] The illuminated segment of the field of view may extend at a first angle of about 2° to about 20° in the first field of view direction and at a second angle of about 2° to about 20° in the second field of view direction perpendicular to the first field of view direction.

[0022] The angular extension of a segment of the field of view can depend on the nature of the coarse angle control element. The number of segments into which the field of view can be divided (e.g., in the horizontal or vertical direction) can depend on the nature of the coarse angle control element.

[0023] For example, the first field of view direction and the second field of view direction can be perpendicular to the optical axis of the lidar system. As an example, the first field of view direction can be horizontal and the second field of view direction can be vertical.

[0024] Each segment of the field of view (e.g., each block) can be divided into multiple sub-segments, such as a first multiple (first) sub-segments in a first direction and a second multiple (second) sub-segments in a second direction.

[0025] Sub-segments can be assigned to corresponding detector pixels. For example, each sub-segment along the direction in which the detector pixels are arranged can be assigned to a corresponding detector pixel. For instance, each detector pixel can detect light from the assigned sub-segment. The resolution in the first direction can depend (e.g., proportional to) the number of sub-segments in the first direction (in various respects, depending on the number of detector pixels). Sub-segments can be assigned to corresponding sub-light sources. For example, each segment can be assigned to a corresponding sub-light source along the direction in which the sub-light source is arranged. For instance, each sub-light source can emit light into the assigned sub-segment. According to various embodiments, the resolution in the second direction can depend (e.g., proportional to) the number of sub-segments in the second direction (in various respects, depending on the number of sub-light sources).

[0026] To achieve the deflection angle, a first deflection angle element (also called a deflection angle portion or deflection angle component) can be set in a first field of view direction (e.g., horizontal or vertical), and a second deflection angle element can be set in a second field of view direction perpendicular to the first field of view direction. For example, a coarse angle control element can be configured to deflect light in one and / or both directions (e.g., the lidar system can be a 1D scanning system or a 2D scanning system).

[0027] As a numerical example only, the first output angular element may have a value ranging from approximately -60° to approximately +60° relative to the optical axis of the lidar system. As a numerical example only, the second output angular element may have a value ranging from approximately -15° to approximately +15° relative to the optical axis of the lidar system.

[0028] Multiple sub-light sources can include a first sub-light source and a second sub-light source. The light emission controller can be configured to control the first and second sub-light sources such that the first sub-light source emits light during a first emission time period and the second sub-light source emits light during a second emission time period. The waiting time between the first and second emission time periods is greater than or substantially equal to the maximum transmission time of the emitted light.

[0029] For example, the second emission period can be after the first emission period (followed by another emission period, for example from another sub-source).

[0030] The waiting time allows light emitted by the first sub-source to return to the lidar system (and be detected by the detector) before light emitted by the second sub-source. Therefore, overlap between light emissions from different sub-sources can be reduced or essentially eliminated, thus improving measurement quality.

[0031] The lidar system may also include an angle controller configured to control one or more optical deflection properties of a coarse angle control element to define the deflection angle of the deflected light. The angle controller may be configured to control the coarse angle control element to provide a first deflection angle of the deflected light during a first angle control time period and a second deflection angle of the deflected light during a second angle control time period. For example, the second angle control time period may be after the first angle control time period. For example, the angle controller may be configured to control the optical deflection properties of the coarse angle control element in a manner that allows different deflection angles to be provided one after another.

[0032] The light emission controller can be configured to control a sub-light source among a plurality of sub-light sources, such that each sub-light source emits light during a corresponding emission time period within a first angle control time period, and each sub-light source emits light during a corresponding emission time period within a second angle control time period.

[0033] For example, a light emission controller can be configured to control a sub-light source among a plurality of sub-light sources in such a way that a segment of the field of view (e.g., assigned to a first deflection angle) is fully illuminated (in other words, each sub-segment is illuminated by the assigned sub-light source).

[0034] The coarse angle control element may have at least one liquid crystal element. For example, the coarse angle control element may be or have a liquid crystal polarization grating. The grating period of the liquid crystal polarization grating can define the deflection angle.

[0035] As another example, a coarse angle control element can have a liquid crystal layer and a polarizing grating. The liquid crystal layer can be arranged in a manner that defines the polarization of light propagating through it. The polarizing grating can be configured to define the deflection angle of light based on its polarization.

[0036] The coarse angle control element can be or has a liquid crystal polarization grating. The angle controller can be configured to provide a control signal (e.g., a voltage such as a modulation voltage, such as a DC voltage, which is turned on and off) to the liquid crystal polarization grating to control the alignment of the liquid crystal molecules. The alignment of the liquid crystal molecules defines the grating period of the liquid crystal polarization grating.

[0037] For example, the angle controller can be configured to provide a first control signal to the liquid crystal polarization grating during a first angular time period to define a first grating period of the liquid crystal polarization grating. The angle controller can also be configured to provide a second control signal to the liquid crystal polarization grating during a second angular time period (e.g., after the first angular time period) to define a second grating period of the liquid crystal polarization grating. For instance, the angle controller can control the grating period of the liquid crystal polarization grating to provide various deflection angles.

[0038] A coarse angle control element may have a liquid crystal layer and a polarizing grating. The angle controller can be configured to provide control signals to the liquid crystal layer to control the alignment of the liquid crystal molecules. The alignment of the liquid crystal molecules defines (e.g., changes) the polarization of light propagating through the liquid crystal layer.

[0039] For example, the angle controller can be configured to provide a first control signal to the liquid crystal layer during a first angular time period to define a first polarization of light propagating through the liquid crystal layer. The angle controller can also be configured to provide a second control signal to the liquid crystal layer during a second angular time period to define a second polarization of light propagating through the liquid crystal layer. Therefore, the polarization grating can provide a first deflection angle to the light based on the first polarization during the first angular time period and a second deflection angle to the light based on the second polarization during the second angular time period.

[0040] The light source may have at least one laser source. For example, a sub-source may have at least one laser source (e.g., each sub-source may be or have a laser source). For example, at least one laser source may have a laser diode. As an example, at least one laser diode may be an edge-emitting laser diode or a component-side light-emitting diode (vertical cavity surface-emitting laser, VCSEL).

[0041] The light source may have a laser rod. For example, a sub-light source may be a laser diode of the laser rod. For instance, the fast axis of the laser rod may be aligned along the direction in which the sub-light source is arranged (e.g., along a second direction).

[0042] The detector may have at least one photodiode. The photodiode may be configured to generate an electrical signal (e.g., voltage or current) when light strikes the at least one photodiode. For example, each detector pixel may have a photodiode or be assigned (e.g., connected) to a corresponding photodiode. It should be understood that each detector pixel may also have multiple photodiodes or be assigned to multiple photodiodes (e.g., in the manner of a silicon photomultiplier tube). For example, at least one photodiode may be an avalanche photodiode, such as a single-photon avalanche photodiode. More specifically, the detector may be or have multiple pixel single-photon avalanche photodiodes.

[0043] The lidar system may also include an optical array receiver. The optical array receiver can be configured to receive light from the field of view and direct the received light onto the detector. In various aspects, the optical array receiver can be configured to map the field of view (e.g., segments of the field of view) onto the detector. For example, the optical array receiver can be configured such that it maps corresponding sub-segments of the field of view onto assigned detector pixels. For example, the optical array receiver can be positioned between the detector and a coarse angle control element.

[0044] An optical array receiver may have one or more lenses (e.g., one or more focusing lenses). The one or more lenses may be configured to focus the received light onto a detector (e.g., onto a corresponding detector pixel).

[0045] The lidar system may also include an optical array transducer. The optical array transducer can be configured to receive light from a light source (e.g., a sub-light source) and guide the received light onto a coarse angle control element. For example, the optical array transducer can be positioned between the light source and the coarse angle control element. The optical array transducer may have a first collimator lens. The first collimator lens can be configured to collimate the light emitted by the light source onto the coarse angle control element. For example, the first collimator lens can be configured to collimate the light in a first (optical) direction. For example, the first collimator lens can collimate the light in the direction of the slow axis of the light source, such as in a direction perpendicular to the direction on which the sub-light source is positioned. For example, the first collimator lens may be a slow-axis collimator (SAC).

[0046] The optical array transducer may have a second collimator lens. The second collimator lens may be positioned between the light source and the first collimator lens. The second collimator lens may be configured such that it collimates the light emitted by the light source onto the first collimator lens. For example, the second collimator lens may be configured such that it collimates the light in a second (optical) direction. For example, the second collimator lens may collimate the light in the direction of the fast axis of the light source, such as in a direction perpendicular to the direction on which the sub-light source is arranged. For example, the second collimator lens may be a fast-axis collimator (FAC) lens.

[0047] The optical array transmitter can also have a multi-lens array for mixing the light emitted by each of the multiple sub-sources. For example, the multi-lens array can be arranged between the source and a coarse angle control element (e.g., between a first collimator lens and the coarse angle control element). The multi-lens array can have a region structure along a second direction (more specifically, along the direction in which the sub-sources are arranged). This region structure allows for good separation of light emitted by one sub-source from light emitted by another sub-source.

[0048] The lidar system can be configured as a flash lidar system or can be a flash lidar system.

[0049] The vehicle may have one or more lidar systems as described herein. Attached Figure Description

[0050] Exemplary embodiments are shown in the accompanying drawings and will be described in more detail below.

[0051] In the attached diagram:

[0052] Figure 1A and Figure 1B Each shows a schematic diagram of a lidar system.

[0053] Figure 1C A schematic diagram of the field of view of a lidar system is shown.

[0054] Figure 2A and Figure 2B Each shows a schematic diagram of a coarse angle control element.

[0055] Figure 2C The first operating mode of the coarse angle control element is shown.

[0056] Figure 2D The illuminated field of view is shown in the first operating mode of the coarse angle control element.

[0057] Figure 2E The second operating mode of the coarse angle control element is shown.

[0058] Figure 2F The illuminated field of view is shown in the second operating mode of the coarse angle control element.

[0059] Figures 3A to 3C Each shows a schematic diagram of the light source.

[0060] Figure 3D This is a schematic diagram of a block of coarse angle control elements.

[0061] Figures 3E to 3H Each shows a schematic diagram of a light-emitting system.

[0062] Figures 4A to 4C Each diagram shows a schematic of the detector.

[0063] Figure 4D This is a schematic diagram of a block of coarse angle control elements.

[0064] Figure 4E A schematic diagram of the receiver array is shown.

[0065] Figures 5A to 5C Each shows a schematic diagram of a lidar system. Detailed Implementation

[0066] In the following detailed description, reference is made to the accompanying drawings, which form a part of the invention, and specific embodiments in which the invention may be practiced are shown for illustrative purposes.

[0067] Figure 1A and Figure 1B Each diagram shows a schematic plan view of a lidar system 100 according to various embodiments. As an example, the lidar system 100 may be incorporated into (e.g., integrated into) a vehicle (e.g., a sedan equipped with, for example, autonomous driving functions).

[0068] The lidar system 100 may have a transmitter side for emitting light into a field of view 102 and a receiver side for receiving (e.g., detecting) light from the field of view 102. The lidar system 100 may also have an angle control stage for controlling (e.g., changing) the propagation direction of light from the transmitter side to the field of view 102 and / or from the field of view 102 to the receiver side.

[0069] Field of view 102 can be the field of view of lidar system 100. For example, field of view 102 can correspond to the emission field on the transmitter side (e.g., the emission field of a light source or multiple sub-light sources) and / or correspond to the field of view on the receiver side (e.g., the field of view of the detector). For example, the field of view of the detector of lidar system 100 can substantially correspond to the emission field of the light source (e.g., multiple sub-light sources) of lidar system 100.

[0070] The lidar system 100 may include a detector 104 (e.g., on the receiver side, as part of a light detection system). The detector 104 may be configured to detect light from a field of view 102. The detector 104 may be configured to provide a signal (e.g., an electrical signal, such as voltage or current) when light strikes the detector 104 (e.g., one or more detector pixels), as described in more detail below (e.g., refer to...). Figures 4A to 4E ).

[0071] For example, signals can be provided from detector 104 to one or more processors of lidar system 100 (e.g., analog signals from detector 104 can be converted to digital signals using an analog-to-digital converter and provided to the processors). For example, one or more processors can be configured to analyze signals (or multiple signals) from detector 104 to reconstruct the scene in field of view 102.

[0072] Detector 104 may have multiple detector pixels 106. Detector pixels 106 of the multiple detector pixels 106 may be along a first direction (e.g., along...). Figure 1A The horizontal direction or along Figure 1B The detector pixels 106 are arranged in the vertical direction shown. In various embodiments, the detector pixels 106 may be formed in an array along the first direction. At least one detector pixel 106 (e.g., each detector pixel 106) may be configured to generate a signal (e.g., current, such as photocurrent) when light strikes the detector pixel 106 (e.g., the signal may be proportional to the amount of incident light), as will be described in more detail below.

[0073] Each of the plurality of detector pixels 106 can be assigned to a corresponding sub-segment of the field of view 102. In various aspects, each detector pixel 106 can be dedicated to detecting light from a corresponding sub-segment of the field of view 106. For example, each detector pixel 106 can receive light from a corresponding sub-segment of the field of view 102 to detect light from there. In various aspects, the receiver side (and / or angle control level) of the lidar system 100 can be configured such that each sub-segment of the field of view 102 is mapped to a corresponding detector pixel 106.

[0074] A lidar system 100 (e.g., on the emitter side, such as as part of a light emitting system) may have a light source 110. The light source 110 may have multiple sub-light sources 112 (also referred to as beams, light emitters, or emitter pixels). In various aspects, the light source 110 may have multiple individual light sources 112, which are individually addressable (e.g., controllable), as will be explained below, for example, relative to... Figures 3A to 3G To be discussed in more detail, the sub-light source 112 (typically light source 110) can be configured in such a way that it emits light into the field of view 102.

[0075] The sub-light sources 112 can be arranged along the second direction. In various aspects, the sub-light sources 112 can form an array along the second direction.

[0076] The second direction can be at an angle to the first direction. The angle between the first and second directions cannot be 0° or 180°; in other words, the first direction cannot be parallel to the second direction (for example, the second direction cannot be the same as the first direction). The first and second directions can be any two directions that form an angle with each other and allow light to be emitted and received. For example, the first direction can be any direction that forms an angle with the optical axis 108 of the lidar system 100 and allows the detector 104 to receive light from the field of view 102. The second direction can be any direction that forms an angle with the optical axis 108 of the lidar system 100 and allows the light source 110 (e.g., sub-light source 112) to emit light toward the field of view 102. In various aspects, the first and second directions can be perpendicular to the optical axis 108 of the lidar system 100 (e.g., the optical axis 108 can be along...). Figure 1A and Figure 1B (align with direction 152).

[0077] In various implementations, the first direction and the second direction can be perpendicular to each other. For example, the first direction can be a horizontal direction, such as... Figure 1A and Figure 1B The first direction is 154, while the second direction can be vertical, such as... Figure 1A and Figure 1BIn the direction 156. In this case, the detector pixels 106 can be arranged in rows and the light source 112 can be arranged in columns (see...). Figure 1A As another example, the first direction can be vertical and the second direction can be horizontal. In this case, the detector pixels 106 can be arranged in columns and the light sources 112 can be arranged in rows (see...). Figure 1B ).

[0078] Each sub-light source 112 can be assigned to a corresponding sub-segment (or multiple corresponding sub-segments) of the field of view 102. The sub-light sources 112 can be configured (e.g., arranged) such that each sub-light source 112 illuminates a corresponding sub-segment of the field of view 102 (e.g., a sub-segment of a block, as will be described in more detail below). In various aspects, the transmitter side (and / or angle control level) of the lidar system 100 can be configured such that each sub-segment of the field of view 102 is illuminated by its corresponding sub-light source 112.

[0079] The relative spatial arrangement (e.g., cross arrangement) between detector pixel 106 and sub-light source 112 (and the allocation of detector pixel 106 and sub-light source 112 to corresponding sub-segments of field of view 102) enables detector pixel 106 to provide spatial resolution in a first direction and enables sub-light source 112 to provide spatial resolution in a second direction.

[0080] The lidar system 100 (e.g., an optical emission system) may have an optical emission controller 118 (e.g., one or more processors). The optical emission controller 118 may be configured to control the light emission of the light source 110. In various aspects, the optical emission controller 118 may control one of a plurality of sub-light sources 112 such that each sub-light source 112 emits light during a corresponding emission time period.

[0081] The light emission controller 118 can allocate emission time periods to each sub-light source 112, such that a single sub-light source 112 emits light within each emission time period. For example, the light emission controller 118 can be configured to control the sub-light sources 112 in such a way that each sub-light source 112 emits light during its corresponding emission time period, rather than during an emission time period associated with another sub-light source 112. This can mean that the light emission of the sub-light sources 112 substantially does not overlap (e.g., temporally and / or spatially). Therefore, any (e.g., predefined) spatial resolution can be achieved in the direction in which the sub-light sources 112 are arranged.

[0082] The light emission controller 118 can be configured to control the sub-light source 112 in such a way that the sub-light source emits light in coordination (e.g., synchronously) with the control of the coarse angle control element 114, as will be described in more detail below.

[0083] The lidar system 100 may have a coarse angle control element 114 (e.g., at the angle control level). The coarse angle control element 114 may be configured to deflect light, for example, both light emitted from light source 110 into field of view 102 and light from field of view 102 toward detector 104 (e.g., toward the receiver side). In other words, the coarse angle control element 114 may be arranged such that it deflects light from light source 110 (e.g., from sub-light source 112) to field of view 102 (e.g., by a first deflection angle) and deflects light from field of view 102 toward detector 104 (e.g., by a second deflection angle). The coarse angle control element 114 may be configured to deflect light (such as relative to a given angle) at multiple deflection angles (e.g., discrete deflection angles). Figures 2A to 2F (Described).

[0084] According to various embodiments, the coarse angle control element 114 can be configured to deflect light from the sub-light source 112 into the field of view 102 by (e.g., discrete) deflection angles, such that a segment of the field of view 102 is illuminated. For example, the coarse angle control element 114 can be configured to control the deflection angle (and output angle) of light emitted into the field of view 102, such that light is emitted into a segment of the field of view 102. The coarse angle control element 114 can be configured (e.g., controlled) to sequentially provide different deflection angles, such that different segments of the field of view 102 are sequentially illuminated, as will be described in more detail below.

[0085] The field of view 102 can be understood as having multiple segments (blocks), each of which is assigned a corresponding deflection angle. According to various embodiments, in Figure 1C The diagram shows an exemplary division of the field of view 102 into multiple segments 116.

[0086] The field of view 102 may have a first plurality of segments along a first direction and a second plurality of segments along a second direction (e.g., it may be divided into a first plurality of segments and a second plurality of segments). As a non-limiting example, such as Figure 1C As shown, the field of view 102 can be described as a matrix of blocks 116 arranged along the horizontal and vertical directions (e.g., the field of view 102 can be divided into multiple rows and columns, each of which is assigned a plurality of blocks 116). It should be understood that the division of the field of view 102 (e.g., the arrangement of blocks 116) can have any shape and configuration, for example, depending on the relative arrangement of the first direction with respect to the second direction.

[0087] According to various embodiments, the number of blocks 116 into which the field of view 102 is divided (e.g., the number of blocks 116 in the first and second directions) can depend on the configuration of the lidar system 100, for example, on the configuration of the coarse angle control 114. The angular extension of the field of view 102 in the first and second directions can depend on the configuration of the lidar system 100. As a numerical example only, the field of view 102 can extend at an angle with a value ranging from 100° to 130° (e.g., 120°, i.e., 60° + / - 60° relative to the optical axis 108) in the horizontal direction. As another numerical example, the field of view 102 can extend at an angle with a value ranging from 10° to 60° (e.g., 20°, i.e., 10° + / - 10° or 24° relative to the optical axis 108) in the vertical direction.

[0088] For numerical examples only, such as Figure 1C As shown, the field of view 102 can have seven blocks arranged horizontally and eight blocks arranged vertically. As another numerical example, the field of view 102 can have eight blocks in the horizontal direction and four blocks in the vertical direction. As yet another numerical example, the field of view 102 can include eight blocks in the horizontal direction and six blocks in the vertical direction.

[0089] The size of block 116 (e.g., angular extension) may depend on the nature of coarse angle control element 114 (e.g., the angle that can be achieved using coarse angle control element 114).

[0090] Blocks 116 may all be the same size (e.g., having the same angular extension in the first and second directions). In various respects, at least one block 116 may have a different size relative to another block 116. For example, a block 116 at the edge of the field of view 102 may have a larger size than a block 116 at the center of the field of view 102 (e.g., a larger angular extension, for example, in the horizontal direction, such as...). Figure 1C The first block 116-1 shown has a larger size than the second block 116-2.

[0091] As a numerical example, block 116 may have a first angular extension in a first viewing direction (e.g., a first direction) having a value ranging from about 2° to about 20°. For example, block 116 may have an angular extension of about 4° (e.g., about 7.5°, or about 15°) in the horizontal direction.

[0092] As a numerical example, block 116 may have a second angular extension in a second field of view direction (e.g., perpendicular to the first field of view direction, such as in the second direction), having a value ranging from about 2° to about 20°. For example, block 116 may have an angular extension of about 2.5° (e.g., about 4°, about 6°, about 15°) in the vertical direction.

[0093] Each block 116 of the field of view 102 can be divided into multiple sub-segments, for example, into a first multiple (first) sub-segments in a first direction and into a second multiple (second) sub-segments in a second direction.

[0094] The spatial resolution of the lidar system 100 in one direction (e.g., in a first direction and / or a second direction) can depend on the angular extension of the block 116 along said direction and on the number of detector pixels 112 or sub-light sources 116 arranged along said direction. The resolution of the lidar system 100 in a given direction can be calculated by dividing the angular extension of the block 116 along said direction by the number of sub-light sources 112 or detector pixels 106 arranged along said direction. For example, the number of sub-light sources 112 or detector pixels 106 arranged along a given direction can correspond to the number of sub-segments into which the block 116 can be divided in said direction.

[0095] As a numerical example, if block 116 has an angular extension of 15° in the horizontal direction and 64 detector pixels 106 are arranged in said direction, a resolution of approximately 0.23° can be achieved in said direction. As another numerical example, if block 116 has an angular extension of 2.5° in the vertical direction and 8 sub-light sources 112 are arranged in said direction, a resolution of approximately 0.31° can be achieved in said direction. As yet another numerical example, if block 116 has an angular extension of 7.5° × 4°, detector 104 has 64 detector pixels 106 arranged in the horizontal direction, and light source 110 has 16 sub-light sources 112 arranged in the vertical direction, a horizontal resolution of approximately 0.12° and a vertical resolution of approximately 0.25° can be achieved. As another numerical example, if block 116 has an angular extension of 4° × 6°, detector 104 has 32 detector pixels 106 arranged in the vertical direction, and light source 110 has 16 sub-light sources 112 arranged in the horizontal direction, then a horizontal resolution of about 0.25° and a vertical resolution of about 0.19° can be achieved.

[0096] The coarse angle control element 114 can be configured to deflect light from the field of view 102 to the detector 104 at a second deflection angle. The coarse angle control element 114 can be configured to receive light from the field of view 102 and deflect the received light to the receiver side of the lidar system 100 (e.g., to an optical array receiver, such as relative to...). Figure 4E (Described).

[0097] The first deflection angle may have the same value as the second deflection angle (e.g., relative to the optical axis 108, for example, in the horizontal direction and / or in the vertical direction). In various aspects, the first deflection angle may have different values ​​compared to the second deflection angle, for example, depending on the direction of the incident light and / or depending on the state of the coarse angle control element 114.

[0098] Figure 2A and Figure 2B Each shows a coarse angle control element 200 (e.g., Figure 1A and Figure 1B A schematic diagram of the coarse angle control element 114 shown.

[0099] like Figure 2A and Figure 2B As indicated by the arrows, the coarse angle control element 200 can be configured to deflect light in multiple directions, for example, to deflect light at multiple deflection angles. The deflected light can be deflected (see...). Figure 2A The deflected light is directed to a field of view 202 (e.g., the field of view of a lidar system, such as to field of view 102 of lidar system 100) to illuminate, for example, a segment of field of view 202. The deflected light can be light received from field of view 202, for example, deflected onto a detector of the lidar system (e.g., detector 104 of lidar system 100), see [link to relevant documentation]. Figure 2B In various aspects, the coarse angle control element 200 can be configured to deflect light at a deflection angle independent of the direction in which the light propagates. The deflection angle can be an angle relative to the optical axis of the coarse angle control element 200 (e.g., relative to the optical axis of a lidar system, such as the optical axis 108 of lidar system 100).

[0100] The deflection angle can be selected from multiple (discrete) deflection angles. In other words, the coarse angle control element 200 can be configured (e.g., controlled) to provide deflection angles from a set of possible deflection angles. In various aspects, each deflection angle can be assigned a corresponding operating state to the coarse angle control element 200. The angular resolution of the coarse angle control element 200 (e.g., the minimum difference between possible deflection angles) can depend on the characteristics of the coarse angle control element 200. For example, the coarse angle control element 200 can have an angular resolution (e.g., in the horizontal and / or vertical directions) of 10°, such as 5°, such as greater than 1°, or greater than 3°. As another example, the coarse angle control element 200 can have an angular resolution in the range of about 1° to about 15°. As a numerical example only, the coarse angle control element 200 can have an angular resolution of 7.5° in the horizontal direction and 6° in the vertical direction.

[0101] The coarse angle control element 200 can be configured to guide light in one direction and / or in two directions. The deflection angle can have a first deflection angle element in a first field of view direction (e.g., horizontal or vertical) and a second deflection angle element in a second field of view direction at an angle to the first field of view direction (e.g., perpendicular to the first field of view direction). For example, the first and second field of view directions can be perpendicular to the optical axis of the coarse angle control element 200.

[0102] The range of values ​​for the deflection angle element in a certain direction can define the angular extension of the field of view 202 in that direction. As an example, the first output angle element may have a value ranging from approximately -60° to approximately +60° relative to the optical axis of the coarse angle control element 200. As another example, the second output angle element may have a value ranging from approximately -15° to approximately +15° relative to the optical axis of the coarse angle control element 200.

[0103] like Figure 2C and Figure 2E As shown, the angle controller 204 can be configured to control the coarse angle control element 200. For example, the angle controller 204 can be part of a lidar system (such as lidar system 100).

[0104] Angle controller 204 can be configured to control one or more optical deflection properties of coarse angle control element 200 to define the deflection angle of the deflected light. Angle controller 204 can be configured to put coarse angle control element 200 into an operational state to provide an assigned deflection angle.

[0105] Angle controller 204 can be configured to provide (e.g., supply) a control signal (e.g., control voltage) to coarse angle control element 200 to place coarse angle control element 200 into an operating state (e.g., assign a control signal). For example, angle controller 204 can be configured to provide one of a plurality of control signals to coarse angle control element 200 to place coarse angle control element 200 into one of a plurality of operating states.

[0106] Angle controller 204 can be configured to provide a first control signal S1 to coarse angle control element 200 to define a first deflection angle (e.g., to illuminate the first block 202-1 of the field of view 202), such as Figure 2C and Figure 2D As shown. Angle controller 204 can be configured to provide a second control signal S2 to coarse angle controller 200 to define a second deflection angle (e.g., to illuminate the second block 202-2 of field of view 202), as... Figure 2E and Figure 2F As shown.

[0107] exist Figures 2C to 2FIn this diagram, angle controller 204 is shown providing control signals to coarse angle control element 200 to illuminate different segments of field of view 202. It should be understood that a similar process can be performed when light is received from field of view 202 (and deflected, for example, onto a detector).

[0108] According to various embodiments, the angle controller 204 can be configured to control a coarse angle control element to provide a deflection angle within a corresponding time period (also referred to as an angle control time period). The angle controller 204 can be configured to control the coarse angle control element to provide multiple deflection angles within multiple corresponding angle control time periods (e.g., sequentially), for example, to sequentially illuminate different blocks of the field of view 102.

[0109] Angle controller 204 can be configured to control coarse angle control element 200 such that the coarse angle control element provides a first deflection angle of the deflected light during a first angle control time period (e.g., to illuminate the first block 202-1 of the field of view 202); see, for example Figure 2D Angle controller 204 can be configured to control coarse angle control element 200 such that the coarse angle control element provides a second deflection angle of the deflected light during a second angle control time period (e.g., to illuminate the second block 202-2 of the field of view 202); see, for example... Figure 2F For example, the second angle control time period can be after the second angle control time period (and can be followed by another angle control time period with a different deflection angle). For instance, the angle controller 204 can control a coarse angle control element so that the blocks are illuminated sequentially. The order in which the blocks are illuminated can correspond to any desired lighting pattern. For example, the blocks can be illuminated sequentially along the same column or row. If the element is or has an LCPG, the blocks can be illuminated in a manner that reduces (e.g., minimizes) the number of slow transitions in the liquid crystal.

[0110] The operation of the angle controller 204 can be consistent with the operation of light emission (e.g., the operation of a light emission controller (e.g., the light emission controller 118 of the lidar system 100)), as discussed in more detail below. The angle controller 204 can be configured to change the operating state (and deflection angle) of the coarse angle control element 200 after the block of the field of view assigned to the current operating state has been fully illuminated (e.g., by each sub-light source 112 of the lidar system 100). In other words, the coarse angle control element (e.g., LCPG) switches to the next block only after all sub-light sources (e.g., laser diodes) have illuminated the entire block at least once consecutively.

[0111] The coarse angle control element 200 may have at least one (e.g., switchable) liquid crystal element. For example, the liquid crystal element may have a liquid crystal molecule layer disposed between two electrodes (e.g., two ITO electrodes) on, for example, a glass substrate.

[0112] In various aspects, the coarse angle control element 200 may have multiple liquid crystal elements. Each liquid crystal element may define a corresponding partial deflection angle, as will be explained in more detail below. The deflection angle of the coarse angle control element 200 may be defined by a combination (e.g., summation) of multiple partial deflection angles.

[0113] The coarse angle control element 200 may have a λ / 4-piece arranged upstream of the (first) liquid crystal element to convert linearly polarized light into circularly polarized light.

[0114] The coarse angle control element 200 (e.g., at least one liquid crystal element) may be or has a liquid crystal polarization grating (e.g., a switchable nematic liquid crystal polarization grating, for example, having a photopolymerizable polymer). The grating period of the liquid crystal polarization grating can define the deflection angle.

[0115] Liquid crystals can be periodically polarized and have a grating structure defined by the orientation of the liquid crystal molecules. The arrangement of the liquid crystal molecules can define (e.g., control or change) the deflection angle of light propagating through the liquid crystal polarization grating. The liquid crystal polarization grating can be arranged to deflect or transmit light in three possible directions (with three possible deflection angles in different aspects) according to the grating period and the polarization of the incident light.

[0116] In the first operating state, if no voltage (e.g., a control voltage) is applied to the liquid crystal polarization grating, the incident light is deflected in a first direction or a second direction according to its polarization (e.g., according to the polarization state, such as right-hand circular polarization or left-hand circular polarization). The light is deflected by a first deflection angle or a second deflection angle (e.g., opposite to the first deflection angle relative to the optical axis of the grating). In this case, the polarization of the output light is also reversed to the opposite orthogonal polarization (e.g., from right-hand circular polarization to left-hand circular polarization, or vice versa). In the second operating mode, when a voltage is applied, the grating period (in some respects, the grating shape) is suppressed and the incident light is allowed to pass through substantially unchanged (e.g., with a third deflection angle having a value of substantially 0°).

[0117] Angle controller 204 can be configured to control a liquid crystal polarization grating. Angle controller 204 can be configured to provide a control signal (e.g., a voltage, such as, but not a DC voltage) to the liquid crystal polarization grating to control the orientation of liquid crystal molecules (e.g., one or more grating properties of the liquid crystal polarization grating).

[0118] For example, the angle controller 204 can be configured to provide a first control signal (e.g., a first control voltage) to the liquid crystal polarization grating during a first angular time period to define a first grating period (e.g., the presence of a grating period). For example, the angle controller 204 can be configured to provide a second control signal (e.g., a second control voltage) to the liquid crystal polarization grating during a second angular time period to define a second grating period (e.g., the absence of a grating period). As an example, the first control voltage can have a value of 0V, such that the corresponding grating properties can provide a (first or second) deflection angle based on the polarization of light. As another example, the value of the second control voltage can be greater than the value of the first control voltage to suppress the grating period, thereby allowing light to pass through the grating unchanged.

[0119] For example, the angle controller 204 can control the grating period of the liquid crystal polarizing grating to provide various deflection angles.

[0120] In some aspects, a liquid crystal polarizing grating can have multiple liquid crystal polarizing gratings. Each liquid crystal polarizing grating can be configured to deflect light in three directions respectively. Each liquid crystal polarizing grating can have both added and subtracted deflection angles, which can provide a wide range of angles. Therefore, the number of possible deflection angles can depend on the number of liquid crystal polarizing gratings. In this configuration, the control voltage can have multiple control voltages applied to multiple liquid crystal polarizing gratings to individually control their grating properties.

[0121] According to various embodiments, the coarse angle control element 200 may have a liquid crystal layer and a polarization grating. The liquid crystal layer may be arranged in a manner that defines the polarization of light propagating through it. The arrangement of the liquid crystal molecules defines (e.g., alters) the polarization of light propagating through the liquid crystal layer. Specifically, the liquid crystal layer may be configured as a switchable polarization selector, such as a switchable half-wave plate. The liquid crystal layer may have a first state in which it does not change the polarization of light and a second state in which it reverses the polarization of light (e.g., from right-hand circular polarization to left-hand circular polarization, or vice versa). The polarization grating may be configured to define the deflection angle of light based on its polarization.

[0122] Angle controller 204 can be configured to provide a first control signal (e.g., a first control voltage, such as 0V) to the liquid crystal layer during a first angle control time period to define a first polarization of light propagating through the liquid crystal layer (in other words, to place the liquid crystal layer in a first state). Angle controller 204 can be configured to provide a second control signal (e.g., a second control voltage, such as greater than the first control voltage) to the liquid crystal layer during a second angle control time period to define a second polarization of light propagating through the liquid crystal layer (in other words, to place the liquid crystal layer in a second state).

[0123] Therefore, the polarization grating can provide a first deflection angle to the light based on the first polarization during the first angle control time period, and provide a second deflection angle to the light based on the second polarization during the second angle control time period.

[0124] According to various implementations, the coarse angle control element 200 may have multiple liquid crystal layers and / or multiple polarization gratings (e.g., stacked or laminated one after another) to increase the range of possible deflection angles (in a manner similar to that described above for liquid crystal polarization gratings).

[0125] The number of blocks and the horizontal and vertical angular extensions (also known as the angle range) can be selected through the design of the liquid crystal elements. The number of blocks can be proportional to the number of liquid crystal layers (e.g., the number of controllable (switchable) layers). As a numerical example only, liquid crystal elements can be arranged to provide more than 20 blocks, such as more than 30 blocks, such as more than 50 blocks. The maximum number of blocks can be limited by the switching time of the liquid crystal elements (e.g., the switching time of the liquid crystal polarizing grating).

[0126] Figures 3A to 3C Each is illustrated schematically with respect to a light source 300 according to various embodiments. The light source 300 may be a light source for a lidar system; for example, the light source 110 may be a light source for the lidar system 100.

[0127] The light source 300 may have multiple sub-light sources 302 (e.g., sub-light sources 112 of the lidar system 100). Sub-light sources 302 of the multiple sub-light sources 302 may be arranged in one direction (e.g., adjacent to each other).

[0128] Sub-light source 302 can be arranged in the vertical direction (see...) Figure 3A ) or arranged in a horizontal direction (see Figure 3B In various aspects, the sub-light source 302 can be arranged in a direction forming an angle other than 90° with the optical axis of the light source 300 (e.g., with the optical axis of the lidar system). Figure 3C As shown in the example, the sub-light source 302 can be arranged in a direction such as 45° to the optical axis.

[0129] The multiple sub-light sources 302 can have any number of sub-light sources 302, such as 8 sub-light sources, 16 sub-light sources, or 32 sub-light sources. The number of sub-light sources 302 determines the resolution in the direction in which the sub-light sources 302 are arranged. As an example, if eight sub-light sources 302 are arranged in the vertical direction, then the segment 304 of the field of view (such as...) where the light emitted by the sub-light sources 302 enters... Figure 3D(As shown) can have eight sub-segments 306. Each sub-segment 306 can be illuminated by a corresponding light source 302. If segment 304 extends at an angle of 15° in the horizontal direction and at an angle of 2.5° in the vertical direction, then each sub-light source 302 can illuminate the sub-segment 306 extending at an angle of 15° in the horizontal direction and at an angle of 0.31° in the vertical direction. For example, each sub-light source 302 can fully illuminate segment 304 in a direction perpendicular to the direction in which the sub-light source 302 is arranged. Each sub-light source 302 can illuminate sub-segment 306 in the direction in which the sub-light source 302 is arranged.

[0130] For example, sub-segment 306 can be understood as a pixel illuminated by the corresponding sub-light source 302. If the field of view is divided into 8 blocks in the vertical direction and each block is divided into 8 sub-segments 306, then 64 pixels can be specified, this is just a numerical example.

[0131] The light source 300 (e.g., at least one sub-light source 302, e.g., each sub-light source 302) can be configured to emit light in the visible and / or infrared wavelength range. For example, the light source 300 can be configured to emit light in the wavelength range from about 700 nm to about 2000 nm (e.g., wavelengths of 905 nm or 1550 nm).

[0132] Light source 300 may have at least one laser source. For example, sub-light source 302 may have at least one laser source (e.g., each sub-light source may be or have a laser source).

[0133] At least one laser source may have a laser diode. As an example, at least one laser diode may be an edge-emitting laser diode or a device-side light-emitting diode.

[0134] The light source 300 (e.g., at least one laser light source) may have a laser rod. For example, the sub-light source 302 may be a laser diode of the laser rod. For example, the fast axis of the laser rod may be aligned along the direction in which the sub-light source 302 is arranged. By way of numerical example only, the laser rod may have an effective area of ​​0.1 mm in the horizontal direction and 0.48 mm in the vertical direction.

[0135] like Figure 3E , Figure 3F , Figure 3G and Figure 3H As shown, the light source 300 may be part of the light emitting system 310 (for example, the light emitting system 310 may be the light emitting system of the lidar system 100).

[0136] The light emission system 310 may have a light emission controller 312 that controls the light source 300 (e.g., multiple sub-light sources 302). The light emission controller 312 may be an example of the light emission controller 118 of the lidar system 100.

[0137] The light emission controller 312 can be configured to control multiple sub-light sources 302 such that the sub-light sources 302 emit light sequentially (e.g., each emitting within a corresponding emission time period). For example, an operating mode could be configured such that only a single sub-light source 302 (e.g., a single laser diode) emits pulses and illuminates a strip (e.g., a sub-segment, e.g., in the horizontal direction). The spatial resolution within the strip is obtained by a detector (e.g., a line detector), as referenced... Figures 4A to 4E A more detailed explanation follows.

[0138] The light emission controller 312 can be configured to control a first sub-light source and a second sub-light source in such a way that the first sub-light source emits light during a first emission time period (e.g., allocated to the first sub-light source) and the second sub-light source emits light during a second emission time period (e.g., allocated to the second sub-light source). The second emission time period may be after the first emission time period (e.g., immediately following the first emission time period without any additional emission time period in between).

[0139] The optical emission controller 312 can be configured such that after a sub-light source 302 has emitted light before the optical emission controller controls the next sub-light source 302 to emit light (e.g., after the first sub-light source has emitted light before the optical emission controller controls the second sub-light source to emit light), the optical emission controller waits for a certain waiting time. The waiting time between successive emission time periods (e.g., between the first emission time period and the second emission time period) can be equal to or greater than the maximum transmission time of the emitted light (e.g., greater than the maximum transmission time of a lidar system (such as lidar system 100) that includes the optical emission system).

[0140] The maximum transmission time can be calculated as: 2*d max / c, where d max is the maximum range of the lidar system (in all respects, the maximum distance from the system to which an object is contained and can still be detected), and c is the speed of light. As a numerical example, the latency can be greater than 100 ns, for example greater than 1 μs, for example greater than 2 μs (corresponding to a maximum range of approximately 300 m). This allows the detector of the lidar system (e.g., detector 104 of lidar system 100) to distinguish which pulse is being received.

[0141] The light emission controller 312 can be configured to control the sub-light source 302 according to the angle controller of the lidar system (e.g., angle controller 204).

[0142] The light emission controller 312 can be configured to control the sub-light sources 302 such that each sub-light source 302 emits light for each deflection angle provided by a coarse angle control element of the lidar system (e.g., coarse angle control element 118). For example, each sub-light source 302 can be controlled to emit light within an angle control time period defined by the angle controller. As an example, the light emission controller 312 can be configured to control the sub-light sources 302 such that each sub-light source 302 emits light within a corresponding emission time period within a first angle control time period, and each sub-light source 302 emits light within a corresponding emission time period within a second angle control time period.

[0143] The light emitting system 310 may have an optical array (e.g., an optical array transmitter 314), such as Figures 3F to 3H As shown. The optical array transducer 314 can be positioned downstream of the light source 300, for example, between the light source 300 and the field of view. For example, the optical array transducer 314 can be positioned between the light source 300 and a coarse angle control element (e.g., coarse angle control element 118) to guide (e.g., focus or collimate) light from the light source 300 to the coarse angle control element. The optical array transducer 314 can have one or more lenses, such as one or more collimator lenses (also called collimating lenses).

[0144] The optical array transmitter 314 may have a first collimator lens 316 (e.g., a first cylindrical lens) to collimate the light emitted by the light source 300 onto the field of view (e.g., onto a coarse angle control element). For example, the first collimator lens 316 may be a slow-axis collimator lens to collimate the emitted light in the slow-axis direction of the light source 300. As a numerical example, the first collimator lens 316 may have a focal length of approximately 44 mm.

[0145] The first collimator lens 316 can collimate light such that the collimated light fills only a sub-segment of the field of view in the direction in which the light is collimated by the first collimator lens 316. For example, the first collimator lens 316 can reduce the beam spread to a desired (e.g., horizontal) angle (e.g., 7.5°).

[0146] The optical array transmitter 314 may have a second collimator lens 318 (e.g., a second cylindrical lens). The second collimator lens 318 may be arranged between the light source 300 and the first collimator lens 316 to collimate the light emitted from the light source 300 onto the first collimator lens 316. For example, the second collimator lens 318 may be a fast-axis collimator lens that collimates the emitted light in the fast-axis direction of the light source 300. The second collimator lens 318 may be configured for beam shaping. As a numerical example, the second collimator lens 318 may have a focal length of approximately 38 μm.

[0147] It is understood that the focal lengths of the first collimator lens 316 and the second collimator lens 318 can be selected (e.g., adjusted) according to the size of the light source 300 (e.g., the width of the effective area of ​​the laser bar).

[0148] The optical array transmitter 314 may have a multi-lens array 320, such as Figure 3G (For sub-light sources arranged in the vertical direction, such as four laser diodes) and Figure 3H (For sub-light sources arranged in the horizontal direction) As shown. The multi-lens array can be configured to mix the light emitted by each of the multiple sub-light sources. The multi-lens array 320 can be arranged downstream of the first collimator lens 316, for example, between the first collimator lens 316 and the coarse angle control element (e.g., coarse angle control element 118).

[0149] The multi-lens array 320 can have a regional structure (as shown in illustration 322), such as multiple regions (e.g., a first region 320-1 and a second region 320-2). The multi-lens array 320 can cause strong (in other words, clear) separation of light emitted from the sub-light sources 302. The regional structure can be arranged in a direction on which the multiple sub-light sources 302 are arranged (e.g., in...). Figure 3G In the vertical direction or in Figure 3H (in the horizontal direction). The multi-lens array 320 can increase the size of the virtual source and thus provide improved eye safety, for example, when emitting light in the infrared range.

[0150] Figures 4A to 4C Each detector 400 is illustrated schematically. Detector 400 can be a detector for a lidar system; for example, detector 104 can be from lidar system 100. Detector 400 can be configured to detect light from a field of view (e.g., from the field of view of the lidar system). Detector 400 can have multiple detector pixels 402 (e.g., detector pixel 106 of lidar system 100). Detector pixels 402 can be arranged in one direction (e.g., side-by-side).

[0151] Detector pixels 402 can be arranged in a horizontal direction (see...) Figure 4A ) or vertical direction (see Figure 4B The detector pixels 402 can be arranged in a direction forming an angle other than 90° with the optical axis of the detector 400 (e.g., with the optical axis of the lidar system). Figure 4CAs shown in the example, detector pixels 402 can be arranged in a direction at 45° to the optical axis. Multiple detector pixels 402 can be of any number, such as 64 detector pixels or 128 detector pixels.

[0152] The size of detector 400 may correspond to the field of view of detector 400 from which it detects light (such as...). Figure 4D The size of block 404 (as shown in the diagram). As a numerical example only, detector 400 (e.g., a 1×64 pixel APD array) can have dimensions of 2.5mm × 15mm, corresponding to block 404 (also called a cell) measuring 15° horizontally × 2.5° vertically. For example, detector 400 can have the same aspect ratio as block 404 (e.g., similar to an LCPG cell).

[0153] The number of detector pixels 402 determines the resolution in the orientation in which they are arranged. As a numerical example, with 64 detector pixels 402 arranged horizontally (e.g., in a 64-pixel APD array), each detector pixel 402 can horizontally map 1 / 64 of a 15° wide block 404 and vertically map the entire 2.5° of block 404. For example, each detector pixel 402 can detect light from a sub-segment 406 of block 404. A horizontal resolution of approximately 0.23° is achieved in this configuration. If 128 detector pixels 402 are used (e.g., in a 128-pixel APD array), the resolution can be increased.

[0154] Detector 400 may have multiple detectors (e.g., sub-detectors). For example, multiple detectors can be used to detect light from the field of view. Detectors can be arranged side by side, for example, each detector can be assigned to a corresponding column or row of the field of view (in order to detect light from the corresponding column or row). By way of example only, detector 400 may have seven detectors, each with 64 detector pixels, so that 448 pixels can be used to detect light (in the horizontal or vertical direction).

[0155] Detector 400 (e.g., detector pixel 402) may have at least one photodiode. For example, at least one (e.g., each) detector pixel 402 may have a photodiode or be coupled to a corresponding photodiode. For example, at least one photodiode may be an avalanche photodiode, such as a single-photon avalanche photodiode. For example, detector 400 may be or have APD rows or SPAD rows. For example, detector 400 may be or have multi-pixel single-photon avalanche photodiodes.

[0156] The optical array receiver 408 can be used to map the field of view onto the detector 400, such as Figure 4EAs shown. The receiver optics can be designed such that the entire field of view is mapped onto detector 400 (e.g., onto an APD row). For example, optical array receiver 408 can be configured such that it maps corresponding sub-segments of the field of view to detector pixels 402 (e.g., assigned to sub-segments). For example, optical array receiver 408 can be arranged between detector 400 and the coarse angle control element (e.g., coarse angle control element 118) of the lidar system. Optical array receiver 408 can have one or more lenses (e.g., one or more focusing lenses). Figure 4E In an exemplary configuration, the optical array receiver 408 may have a lens 410 that focuses light onto the detector 400 (e.g., in both the vertical and horizontal directions). The lens 410 may have equal focal lengths in both the horizontal and vertical directions, for example, 57 mm.

[0157] Figure 5A , Figure 5B and Figure 5C Each is illustrated schematically as a lidar system 500. Lidar system 500 can be an exemplary implementation of lidar system 100. Figure 5B and Figure 5C The transmitter side shows only one optical element (e.g., a multi-lens array), but it is understood that other optical elements (e.g., slow-axis collimator lenses and / or fast-axis collimator lenses) may also be present.

[0158] exist Figure 5A In an exemplary configuration, the lidar system 500 may have a detector 502 on the receiver side. The detector may have, for example, 64 detector pixels (e.g., 64 channels) arranged horizontally, such as an array of 64 avalanche photodiodes. The lidar system 500 may also have receiver optics 504 on the receiver side, such as a lens (e.g., a focusing lens), to guide (e.g., focus) light onto the detector 502. The lidar system 500 may have a laser module 506 on the emitter side, such as a laser rod with eight laser diodes arranged vertically. The lidar system 500 may have emitting optics to collimate the light emitted by the laser module 506. For example, the lidar system 500 may have a first collimator lens 508 (e.g., a fast-axis collimator lens) and a second collimator lens 510 (e.g., a slow-axis collimator lens). The lidar system 500 may have a coarse angle control element 512, such as a liquid crystal polarization grating, located at an angle control stage. As a numerical example only, a liquid crystal polarizing grating can have a horizontal dimension (e.g., width) of about 50 mm and a vertical dimension (e.g., height) of about 50 mm.

[0159] exist Figure 5BIn an exemplary configuration, the LiDAR system 500 may have a detector 514 on the receiver side, for example, a 1D detector row with 32 or 64 detector pixels (e.g., 32 or 64 avalanche photodiodes) arranged horizontally. The LiDAR system 500 may also have a receiver optics 516 on the receiver side to guide light onto the detector 514. The receiver optics 516 may be configured such that light from a block 518 (e.g., an LCPG block) is mapped onto the detector 514. Sub-segments of block 518 (arranged horizontally) are mapped by the receiver optics 516 onto corresponding detector pixels. For example, a striped sub-segment 518-1 may be mapped onto a striped detector pixel 514-1 (e.g., onto an APD unit). Block 518 may extend at an angle of 7.5° horizontally and 4° vertically, for example. The lidar system 500 may have a laser module 520 on the emitter side, for example, a laser bar (e.g., a 16-fold laser bar) with 16 laser diodes arranged in a vertical direction (e.g., a 1D emitter column). The lidar system 500 may have a multi-lens array 522 for guiding the light emitted by the laser module 520 into the field of view. The multi-lens array 522 may be configured such that the light from each laser diode of the laser module 520 illuminates a corresponding sub-segment of block 518 (among the sub-segments arranged in a vertical direction) (e.g., sub-segment 518-2).

[0160] Figure 5C The lidar system 500 in the middle can have Figure 5B The same components of the system are configured in reverse. Figure 5C In this configuration, the detector may have 514 detector pixels arranged vertically. The laser module 520 (and the multi-lens array 522) may be arranged horizontally. The arrangement of the sub-segments of block 518 may be reversed accordingly. Block 518 may, for example, extend at an angle of 4° in the horizontal direction and at an angle of 6° in the vertical direction.

[0161] The lidar system 500 may also have a slow-axis collimator lens and a fast-axis collimator lens on the transmitter side, for example, Figure 3G , Figure 3H and Figure 5A The arrangement shown is for clarity. Figure 5B and Figure 5C The slow-axis collimator lens and the fast-axis collimator lens are not shown.

[0162] List of reference numerals

[0163] LiDAR system 100

[0164] 102 Field of view

[0165] Detector 104

[0166] Detector pixels 106

[0167] Optical axis 108

[0168] Light source 110

[0169] Sub-light source 112

[0170] Coarse angle control element 114

[0171] Block 116

[0172] The first piece, 116-1

[0173] The second piece, 116-2

[0174] Optical emission controller 118

[0175] Direction 152

[0176] Direction 154

[0177] Direction 156

[0178] Coarse angle control element 200

[0179] Vision 202

[0180] The first piece, 202-1

[0181] The second piece, 202-2

[0182] Angle Controller 204

[0183] Light source 300

[0184] Sub-light source 302

[0185] View Block 304

[0186] Sub-segment 306

[0187] Optical emission system 310

[0188] Optical emission controller 312

[0189] Optical array transducer 314

[0190] Collimator Lens 316

[0191] Collimator Lens 318

[0192] Multilens array 320

[0193] Area 320-1

[0194] Area 320-2

[0195] Illustration 322

[0196] Detector 400

[0197] Detector pixel 402

[0198] View Block 404

[0199] Sub-segment 406

[0200] Receiver Optical Array 408

[0201] Lens 410

[0202] LiDAR system 500

[0203] Detector 502

[0204] Receiver Optical Components 504

[0205] Laser Module 506

[0206] Collimator Lens 508

[0207] Collimator Lens 510

[0208] Coarse angle control element 512

[0209] Detector 514

[0210] Detector pixel 514-1

[0211] Receiver Optical Components 516

[0212] Block 518

[0213] Sub-segment 518-1

[0214] Sub-segment 518-2

[0215] Laser bar 520

[0216] Multilens array 522

[0217] Control signal S1

[0218] Control signal S2

Claims

1. A lidar system (100) comprising: • Detector (104), which is configured to detect light from the field of view (102) in a manner that allows it to do so. • The detector (104) has a plurality of detector pixels (106) arranged along a first direction. • Each of the plurality of detector pixels (106) is assigned to a corresponding first sub-segment of the field of view (102), the field of view (102) comprising a plurality of first segments, and each of the plurality of first segments comprising a plurality of first sub-segments along the first direction. • A light source (110) having multiple sub-light sources (112) configured in such a way that they emit light into the field of view (102). • The plurality of sub-light sources (112) are arranged along a second direction at an angle to the first direction. • Each of the plurality of sub-light sources (112) is assigned to a corresponding second sub-segment of the field of view (102), the field of view (102) comprising a plurality of second segments, and each of the plurality of second segments comprising a plurality of second sub-segments along the second direction. • A coarse angle control element (114) is arranged to deflect light from each sub-light source (112) to a corresponding second sub-segment of the field of view and to deflect light from a corresponding first sub-segment of the field of view (102) to a corresponding detector pixel (106). • A light emission controller (118) configured to control the sub-light sources (112) among the plurality of sub-light sources (112) in such a way that each of the plurality of sub-light sources (112) emits light during a corresponding emission time period.

2. The lidar system (100) according to claim 1. The second direction is perpendicular to the first direction.

3. The lidar system (100) according to claim 1 or 2. The coarse angle control element (114) is configured to deflect light from each of the plurality of sub-light sources (112) of the light source (110) by a corresponding first deflection angle, so as to illuminate a corresponding second sub-segment of the field of view (102), and / or The coarse angle control element (114) is configured to deflect light from a corresponding first sub-segment of the field of view (102) by a corresponding second deflection angle to deflect light from the corresponding first sub-segment of the field of view (102) onto a corresponding detector pixel (106) of a plurality of detector pixels (106) of the detector (104).

4. The lidar system (100) according to claim 1 or 2. The plurality of sub-light sources (112) include a first sub-light source and a second sub-light source, and The light emission controller (118) is configured to control the first sub-light source and the second sub-light source such that the first sub-light source emits light during a first emission time period and the second sub-light source emits light during a second emission time period. The waiting time between the first transmission time period and the second transmission time period is greater than or substantially equal to the maximum transmission time from when the light is emitted to when the light is detected.

5. The lidar system (100) according to claim 1 or 2, further comprising: An angle controller (204) is configured to control one or more light deflection properties of the coarse angle control element (114) to define the deflection angle of the deflected light.

6. The lidar system (100) according to claim 5. The coarse angle control element (114) is or has a liquid crystal polarizing grating. The angle controller (204) is arranged to provide a control signal to the liquid crystal polarization grating to control the alignment of liquid crystal molecules, wherein the alignment of the liquid crystal molecules defines the grating period of the liquid crystal polarization grating.

7. The lidar system (100) according to claim 5. The coarse angle control element (114) described herein has a liquid crystal layer and a polarizing grating. The angle controller (204) is configured to provide a control signal to the liquid crystal layer to control the arrangement of liquid crystal molecules in the liquid crystal layer, wherein the arrangement of the liquid crystal molecules defines the polarization of light propagating through the liquid crystal layer.

8. The lidar system (100) according to claim 1 or 2, further comprising: An optical array receiver (408) configured to receive light from the field of view and direct the received light onto the detector (104), and / or An optical array transducer (314) is configured to receive light from the light source (110) and guide the received light onto the coarse angle control element (114). Optionally, the optical array transmitter (314) has a multi-lens array for mixing the light emitted by each of the plurality of sub-light sources.

9. The lidar system (100) according to claim 1 or 2, wherein the first spatial resolution in the first direction depends on the number of the plurality of detector pixels (106) extending angularly along the first direction of the corresponding first segment and arranged along the first direction, and the second spatial resolution in the second direction depends on the number of the plurality of sub-light sources (112) extending angularly along the second direction of the corresponding second segment and arranged along the second direction.

10. The lidar system (100) according to claim 9, wherein the first spatial resolution in the first direction is calculated by dividing the angular extension of the corresponding first segment along the first direction by the number of detector pixels (106) arranged along the first direction; and The second spatial resolution in the second direction is calculated by dividing the angle of the corresponding second segment along the second direction by the number of multiple sub-light sources (112) arranged along the second direction.

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